WO2020004887A1 - Robot de transfert de véhicule intelligent pour permettre le stationnement et la sortie de stationnement par un véhicule de charge - Google Patents

Robot de transfert de véhicule intelligent pour permettre le stationnement et la sortie de stationnement par un véhicule de charge Download PDF

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Publication number
WO2020004887A1
WO2020004887A1 PCT/KR2019/007620 KR2019007620W WO2020004887A1 WO 2020004887 A1 WO2020004887 A1 WO 2020004887A1 KR 2019007620 W KR2019007620 W KR 2019007620W WO 2020004887 A1 WO2020004887 A1 WO 2020004887A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
unit
wheel holder
frame
wheel
Prior art date
Application number
PCT/KR2019/007620
Other languages
English (en)
Korean (ko)
Inventor
조민서
김현희
Original Assignee
조민서
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 조민서 filed Critical 조민서
Priority to EP19826103.4A priority Critical patent/EP3815858A4/fr
Priority to JP2020571744A priority patent/JP2021529902A/ja
Priority to US17/252,279 priority patent/US11541544B2/en
Priority to CN201980040606.9A priority patent/CN112334284A/zh
Publication of WO2020004887A1 publication Critical patent/WO2020004887A1/fr

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
    • E04H6/08—Garages for many vehicles
    • E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
    • E04H6/18—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions
    • E04H6/182—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions using car-gripping transfer means
    • E04H6/183—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions using car-gripping transfer means without transverse movement of the car after leaving the transfer means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/086—Proximity sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/126—Rotary actuators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
    • B66F7/02—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms suspended from ropes, cables, or chains or screws and movable along pillars
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
    • B66F7/28—Constructional details, e.g. end stops, pivoting supporting members, sliding runners adjustable to load dimensions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/063—Automatically guided
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
    • E04H6/08—Garages for many vehicles
    • E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
    • E04H6/30—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
    • E04H6/08—Garages for many vehicles
    • E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
    • E04H6/30—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only
    • E04H6/305—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only using car-gripping transfer means

Definitions

  • the present invention relates to a vehicle transport robot provided in a flat parking lot, and more specifically, to the front space of the vehicle parked by moving in front of, after, left and right along the parking lines of the flat parking lot, and lifting the vehicle.
  • the present invention relates to a vehicle transport robot for transporting a vehicle to proceed with parking and unloading of the vehicle.
  • an area in which each vehicle can park through a predetermined paint is partitioned on a flat floor and a predetermined parking line is formed to form one parking unit.
  • the parking unit is connected to each other in a manner adjacent to each other to form a parking module, a moving passage of the vehicle is formed between the front portion of the parking module.
  • the conventional flat parking lot is divided into a plurality of parking units, which are areas partitioned so that one vehicle is parked, and a moving path of the vehicle is formed between the parking module and the parking module including a plurality of adjacent parking units.
  • a parking rail is installed on a parking space and a parking table is installed on a horizontal transport table that is transported in one direction along the fixed rail.
  • the present invention is to solve the above-mentioned problems, and provided with a vehicle transport robot in the flat parking lot, by eliminating the moving passage of the vehicle can increase the parking number of the vehicle for the same area can increase the parking efficiency.
  • the vehicle transport robot 10 of the present invention is disposed vertically from the ground, four vertical frames 110 formed to form a quadrangular spaced apart a predetermined distance, and the four vertical frames 110 It is formed to form a square by connecting the upper ends of each.
  • the frame part 100 including the upper frame 120, the driving part 200 installed at the lower end of the vertical frame 110, respectively, to move the frame part 110, and the frame part 100. It is installed to include a carriage 300 for loading the vehicle.
  • the frame part 100 is formed by four spaces between the four vertical frames 110 and the ground and the upper frame 120, the left surface, the right surface and the front and rear four surfaces, the top frame 120 ) Is divided into two long side upper end frames 121a and 121b included in the left and right sides, and two short side upper end frames 122a and 122b included in the front and back sides.
  • the carriage 300 is disposed on the front and rear of the frame unit 100 corresponding to the front and rear of the vehicle, respectively, the loading unit 310 is transported toward the front and rear of the vehicle is loaded And a lifting part 320 coupled to the frame part 100 to lift the loading part 310.
  • the lifting unit 320 is a guide support 321 disposed in parallel to the lower side of the two short side upper frame (122a, 122b), respectively, and the transport table 322 coupled to both ends of the guide support (321) And a vertical guide bar 323 respectively installed in the vertical frame 110 and having the transfer table 322 coupled thereto, and the transfer table 322 driven to move up and down along the vertical guide bar 323. It comprises a lifting and lowering drive (not shown).
  • the loading unit 310 is connected to the wheel holder portion 310a, the front wheel and the rear wheel of the vehicle is held by holding the lifting portion and the wheel holder portion 310a is coupled to the wheel holder portion It comprises a wheel holder driving unit for transporting (310a).
  • the wheel holder driving unit is coupled with the guide support 321 and the wheel holder portion forward and backward driving unit for transferring the wheel holder 310a to the lower side of the vehicle through the gap between the front, rear bumper and the ground;
  • a first connection part provided between the wheel holder part vertical rotation driving part for rotating the wheel holder part 310a in a vertical direction perpendicular to the ground, and between the wheel holder part forward and backward driving part and the wheel holder part vertical rotation driving part;
  • a second connection part provided between the wheel holder vertical rotation driving part and the wheel holder part 310a and coupled thereto.
  • the wheel holder 310a is a mounting plate 314 rotatably coupled to the second connection portion, and the first, the left and right symmetry coupled to the upper mounting plate 314, the vehicle wheel is raised; It includes two mounting tables (315a, 315b).
  • the wheel holder portion forward and backward driving unit is disposed perpendicular to the guide support 321, the first and second horizontal feed shaft (311a, 311b) protruding toward the lower side, and the first and second horizontal feed shaft (311a, First and second transfer support plates 312a and 312b for supporting the first and second horizontal feed shafts 311a and 311b to the guide support 321 while the upper one side of the 311b is rotatably coupled around the shaft.
  • a horizontal driving unit (not shown) for transferring the first and second transfer support plates 312a and 312b in opposite directions along the guide support 321, respectively, and the first and second transfer support plates 312a and 312b move. It includes a first rotary drive (not shown) for rotating the first and second horizontal feed shaft (311a, 311b) in opposite directions, respectively.
  • first connection part includes first and second chamber connection parts 317a and 317b to which the other side of the lower part of each of the first and second horizontal transfer axes 311a and 311b is fixedly coupled.
  • the wheel holder vertical rotation driving unit is provided lying on the side of each of the first and second connecting portion, the first and second rotation shafts (313a, 313b) coupled to one side to be rotatable about an axis, and the first And a second rotation driving part (not shown) for rotating the second rotation shafts 313a and 313b in the vertical direction to rotate the wheel holder part 310a in the ground direction to the inner space of the frame part 100.
  • the wheel holder 310a may be raised and lowered in the non-protruding state.
  • the second connection part includes first and second hinge connection parts 318a and 318b fixedly coupled to the other side of the first and second rotation shafts 313a and 313b, respectively, and hinged to the mounting plate 314.
  • Each of the first and second rotation shafts 313a and 313b rotates in front of and behind the vehicle according to the rotation of the first and second horizontal transfer shafts 311a and 311b.
  • the wheel holder 310a is rotatably coupled to an upper portion of each of the first and second mounting tables 315a and 315b, and a holding member 316 having an annular end to hold a vehicle wheel, and the The first and second mounting tables 315a and 315b may be moved to both left and right sides to further include a rack driving unit (not shown) for adjusting the width between the wheels of the vehicle.
  • the vehicle transfer robot 10 further includes a support 400 for supporting the wheel holder 310a transferred to the upper side of the frame portion 100.
  • the support unit 400 is disposed on the lower side of the upper frame 120 and the outer frame 410 coupled to the outside of the vertical frame 110 and the outer frame 410 is rotatably installed It includes a support 420 for supporting the wheel holder 310a by rotating when the vehicle is loaded after loading the vehicle in the loading unit.
  • the drive unit 200 is a wheel 210, a wheel rotation motor for transmitting a rotational force to the wheel 210, the direction change motor for changing the direction of the wheel 210, the rotation of the direction switching motor It includes a direction switching module for switching the direction of the wheel according to the angle, and a fixing bracket 220 for fixing the drive unit 200 to the vertical frame (110).
  • the driving unit 200 further includes a folding support 260 coupled to the fixing bracket 220 and made of a multi-stage folding unit, and an auxiliary wheel 270 coupled to the end of the support 260. Is done.
  • the vehicle transfer robot 10 recognizes the presence of the vehicle on the lower side of the carriage 300 in a state in which the vehicle is loaded on the carriage 300, and when the vehicle is loaded on the carriage 300, the vehicle and the carriage (
  • the sensor 500 for recognizing the distance between the 300, and a control unit for controlling the driving of the vehicle transport robot 10 by the signal of the sensor 500 may be further provided.
  • the vehicle transfer robot 10 is coupled to a separate guide rail 123 continuously installed inside the upper frame 120 and the detection sensor 500 to transfer the detection sensor 500.
  • a conveying body 124 for conveying along the guide rail 123 may be further provided.
  • an intelligent vehicle transport robot is provided in a parking space without using a separate structure or a parking guide passage, thereby effectively parking and leaving a vehicle.
  • FIG. 1 is a plan view schematically showing a vehicle transport robot according to an embodiment of the present invention
  • Figure 2 is a side view schematically showing a vehicle transport robot according to an embodiment of the present invention
  • Figure 3 is a front view schematically showing a vehicle transport robot according to an embodiment of the present invention
  • FIG. 4 to 8 is a perspective view schematically showing the operating state of the carriage according to an embodiment of the present invention.
  • Figure 9 is a side view schematically showing the driving of the auxiliary wheel according to an embodiment of the present invention.
  • FIG. 10 is a plan view schematically showing the driving of a sensor according to an embodiment of the present invention.
  • FIG. 11 is a side view schematically showing a horizontal control apparatus according to an embodiment of the present invention.
  • FIG. 1 is a plan view schematically showing a vehicle transport robot according to a preferred embodiment of the present invention
  • Figure 2 is a side view schematically showing a vehicle transport robot according to an embodiment of the present invention
  • Figure 3 is Figure 4 is a front view schematically showing a vehicle transport robot according to a preferred embodiment of the invention
  • Figure 4 is a perspective view schematically showing the operating state of the carriage according to a preferred embodiment of the present invention
  • Figure 9 is Figure 10 is a side view schematically showing the driving of the auxiliary wheel according to an embodiment
  • Figure 10 is a plan view schematically showing the driving of a sensor according to an embodiment of the present invention
  • Figure 11 is an embodiment of the present invention Side view schematically showing the horizontal adjustment device according to.
  • the intelligent vehicle transfer robot 10 may be provided with a vehicle transfer robot 10 in a parking lot (not shown) in which parking lines are marked in a checkerboard shape and a plurality of parking zones are formed.
  • the parking lot is marked with a parking line indicating the position of the vehicle in which each vehicle is parked on one plane, eliminating the vehicle movement path through which the vehicle can move, increasing the number of parking of the vehicle, and the vehicles parked in the parking lot. These are moved through the vehicle transport robot 10 to perform the parking and take-out operation of the vehicle.
  • the vehicle transfer robot 10 moves forward, backward, left and right along the parking lines, transports the vehicle to park in the parking area or leaves a vehicle parked in the parking area, and lifts the vehicle.
  • the vehicle is moved in the raised state and the vehicle is transferred to an upper space of the parked vehicle to proceed with parking and discharging of the vehicle.
  • the marked parking line is provided with a position marker (not shown) for recognizing a moving position when the vehicle transfer robot 10 moves, and the vehicle transfer robot 10 may detect the position marker.
  • a detection sensor (not shown) may be attached to move while tracking the position marker through the detection sensor.
  • the position marker is a reflective material that reflects light or a metal material that reacts with electricity
  • the detection sensor is an optical sensor that detects the position marker through a light emitting unit and a light receiving unit, or generates a magnetic field to generate the metal material. It is preferably a magnetic field sensor for sensing.
  • the vehicle transfer robot 10 is assigned an identification code to each parking unit divided by the parking line.
  • vehicle transfer robot 10 may be attached to a tag for identifying the position of the vehicle transfer robot.
  • the vehicle transport robot 10 includes a vehicle presence sensor (not shown) for determining whether a vehicle is present in the parking unit, an input unit (not shown) for receiving the vehicle's entry and exit information, and an input unit through the input unit. And a storage unit (not shown) for storing the vehicle number of the vehicle parked in each of the parking units.
  • the vehicle transfer robot 10 may be moved.
  • the vehicle presence sensor may be provided as a separate ultrasonic sensor or an image sensor, etc., the vehicle is parked by stopping the unloading of the vehicle loaded on the vehicle transfer robot 10 according to the signal of the vehicle presence sensor. It is possible to prevent accidents caused by parking the vehicle in the parking unit in duplicate.
  • the parking lot may be provided with a guide rail (not shown) for preventing the departure of the vehicle transfer robot 10 on the ground, or a guide bar (not shown) higher than the height of the vehicle.
  • the vehicle transfer robot 10 is a parking control system or the robot itself
  • autonomous driving through automatic control the vehicle can be parked and unloaded, and depending on the situation, it can be directly controlled and driven through remote control of an operator.
  • the vehicle transport robot 10 does not operate only when a parking line is displayed on the parking lot, and the above described pendulum is only one embodiment of the present invention.
  • the vehicle transport robot 10 as shown in Figure 1 or less is disposed vertically on the ground, four vertical frame 110 formed to form a square frame spaced apart a certain distance, and the four vertical
  • the frame part 100 including the upper frame 120 formed to form a quadrangular shape by connecting the upper end of the frame 110 and the lower end of the vertical frame 110, respectively, is installed on the frame part 110. It includes a driving unit 200 for moving, and a carriage 300 installed in the frame unit 100 to load the vehicle.
  • the vehicle transport robot 10 may move the vehicle to the upper space of the parked vehicle while moving to the front, rear, left and right while lifting the vehicle to perform parking and unloading operations of the vehicle.
  • the frame part 100 is formed by the space between the four vertical frame 110 and the ground and the upper frame 120, the left side, the right side and the front and rear four surfaces are formed, the upper frame 120 ) Is divided into two long side upper end frames 121a and 121b included in the left and right sides, and two short side upper end frames 122a and 122b included in the front and back sides.
  • the vehicle transport robot 10 may transfer the vehicle to an upper space of the parked vehicle while passing through the vehicle parked on the ground through the four surfaces.
  • the carriage 300 is disposed on the front and rear of the frame unit 100 corresponding to the front and rear of the vehicle, respectively, the loading unit 310 is transported toward the front and rear of the vehicle is loaded And a lifting part 320 coupled to the frame part 100 to lift the loading part 310.
  • the lifting unit 320 is a guide support 321 is disposed in parallel to the lower side of the two short side upper frame (122a, 122b), respectively, and the transport table 322 coupled to both ends of the guide support (321) And a vertical guide bar 323 respectively installed in the vertical frame 110 and having the transfer table 322 coupled thereto, and the transfer table 322 driven to move up and down along the vertical guide bar 323. It comprises a lifting and lowering drive (not shown).
  • the elevating drive unit is a winch using a wire or chain installed in the upper side of the two short side upper frame (122a, 122b), respectively, and connected to the guide support 321 or the transfer table 322 or the gear or Screw jack or It can be provided with a hydraulic device.
  • the elevating drive unit may be a ring connected to a chain or a wire at both sides or the center of the guide support 321 as an embodiment.
  • the pulley for winding the chain or wire is formed on the inner or upper end of the short side upper end frame (122a, 122b), it may be configured to be provided with a motor for transmitting a rotational force to the pulley.
  • the lifting unit 320 is moved up and down along the vertical guide bar 323 as the pulley is rotated.
  • the lifting unit 320 may further include a separate safety device to prevent the fall of the loading unit 310 due to failure and damage of the driving unit.
  • the safety device in one embodiment, includes a brake operated by hydraulic pressure between the horizontal transfer table 322 and the vertical guide bar 323 to control the driving of the guide support 321 by operating the brake in an emergency.
  • a safety hole may be drilled between the horizontal carrier 322 and the vertical guide bar 323 to prevent the fall or the fall of the guide support 321 may be prevented by applying the seat belt principle.
  • the loading portion 310 is connected to the wheel holder portion 310a which is held by holding the front wheel and the rear wheel of the vehicle, respectively, the lifting portion and the wheel holder portion 310a is coupled to the wheel holder portion It comprises a wheel holder driving unit for transporting (310a).
  • the wheel holder driving unit is coupled with the guide support 321 and the wheel holder portion forward and backward driving unit for transferring the wheel holder 310a to the lower side of the vehicle through the gap between the front, rear bumper and the ground;
  • a first connection part provided between the wheel holder part vertical rotation driving part for rotating the wheel holder part 310a in a vertical direction perpendicular to the ground, and between the wheel holder part forward and backward driving part and the wheel holder part vertical rotation driving part;
  • a second connection part provided between the wheel holder vertical rotation driving part and the wheel holder part 310a and coupled thereto.
  • the wheel holder 310a is the first mounting plate 314 rotatably coupled to the second connection portion, and the left and right symmetry coupled to the upper mounting plate 314, the vehicle wheel is raised; It includes two mounting tables (315a, 315b).
  • the wheel holder portion forward and backward driving unit is disposed perpendicular to the guide support 321, the first and second horizontal feed shaft (311a, 311b) protruding toward the lower side, and the first and second horizontal feed shaft (311a, First and second transfer support plates 312a and 312b for supporting the first and second horizontal feed shafts 311a and 311b to the guide support 321 while the upper one side of the 311b is rotatably coupled around the shaft.
  • a horizontal driving unit (not shown) for transferring the first and second transfer support plates 312a and 312b in opposite directions along the guide support 321, respectively, and the first and second transfer support plates 312a and 312b move. It includes a first rotary drive (not shown) for rotating the first and second horizontal feed shaft (311a, 311b) in opposite directions, respectively.
  • first connection part includes first and second chamber connection parts 317a and 317b to which the other side of the lower part of each of the first and second horizontal transfer axes 311a and 311b is fixedly coupled.
  • the wheel holder vertical rotation driving unit is provided lying on the side of each of the first and second connecting portion, the first and second rotation shafts (313a, 313b) coupled to one side to be rotatable about an axis, and the first And a second rotation driver (not shown) for rotating the second rotation shafts 313a and 313b in the vertical direction.
  • the wheel holder 310a may be rotated in the ground direction to raise and lower the wheel holder 310a in a state in which the wheel holder 310a is not protruded into the inner space of the frame 100.
  • first and second rotation shafts 313a and 313b is coupled to the first and second chamber connecting portions 317a and 317b by bearings, and the first and second hinge connecting portions 318a and 318b. ) Is fixed to the other side.
  • first and second rotation shafts 313a and 313b are rotated in the vertical direction by the second rotation driver, and the first and second hinge connectors 318a and 318b are coupled to each other by the driving.
  • the wheel holder 310a also rotates together.
  • first and second rotation shafts 313a and 313b may be provided to be stretchable.
  • the second connection part includes first and second hinge connection parts 318a and 318b fixedly coupled to the other side of the first and second rotation shafts 313a and 313b, respectively, and hinged to the mounting plate 314. It is done by
  • each of the first and second rotation shafts 313a and 313b rotates in front of and behind the vehicle as the first and second horizontal feed shafts 311a and 311b rotate.
  • the horizontal driving unit and the first and second rotational driving unit is preferably provided with a motor as a power source, the configuration of such a power source can be easily invented by a person skilled in the art, detailed description thereof will be omitted.
  • the carriage 300 is driven to rotate the first and second rotation shafts (313a, 313b) by the movement of the first and second transfer support plates (312a, 312b) so that the loading portion 310 to the front and rear Each is moved.
  • the loading unit 310 is moved to the lower side of the front and rear bumpers of the vehicle to support and hold the wheels of the vehicle, and is then moved upward by the lifting unit 320, thereby moving up the space of the parked vehicle. Parking and unloading can be performed while moving the vehicle.
  • the loading unit 310 is preferably provided with a separate brake device for preventing the rotation of the first and second horizontal feed shaft (311a, 311b).
  • the configuration of the carriage 300 according to the present invention is not installed and provided with a separate frame for loading and lifting the vehicle to the left and right of the frame portion 100 to perform the welding operation through the vehicle transfer robot 10.
  • the space between the vehicles can be narrowed and the parking space can be reduced, thereby improving the parking efficiency compared to the same area of the parking lot.
  • the wheel holder 310a is rotatably coupled to an upper portion of each of the first and second mounting tables 315a and 315b, and a holding member 316 having an annular end to hold a vehicle wheel, and the The first and second mounting tables 315a and 315b may be moved to both left and right sides to further include a rack driving unit (not shown) for adjusting the width between the wheels of the vehicle.
  • mounting plate 314 and the first and second mounting table (315a, 315b) may be provided as a separate type that is integrally or bisected to be coupled to the first and second hinge connecting portions (318a, 318b), respectively.
  • the vehicle transfer robot 10 may further comprise a support portion 400 for supporting the wheel holder portion 310a transferred to the upper side of the frame portion 100.
  • the support part 400 is disposed on the lower side of the upper frame 120 and is rotatably installed on the outer frame 410 and the outer frame 410 coupled to the outside of the vertical frame 110. It includes a support 420 for supporting the wheel holder 310a by rotating when the vehicle is loaded after loading the vehicle in the loading unit.
  • the driving unit 200 is disposed at the lower ends of the four vertical frames 110, respectively, the wheel 210, a wheel rotation motor for transmitting a rotational force to the wheel 210, and the wheel 210 of It includes a direction switching motor for changing the direction, a direction switching module for changing the direction of the wheel according to the rotation angle of the direction switching motor, and a fixing bracket 220 for fixing the drive unit to the vertical frame (110). .
  • the driving unit 200 further includes a folding support 260 coupled to the fixing bracket 220 and made of a multi-stage folding unit, and an auxiliary wheel 270 coupled to the end of the support 260. Is done.
  • the support 260 may be improved when the vehicle transport robot 10 is moved to the left and right, by extending in a straight line toward the front and rear side of the vehicle transport robot 10.
  • the vehicle transfer robot 10 recognizes the presence of the vehicle on the lower side of the carriage 300 in a state in which the vehicle is loaded on the carriage 300, and when the vehicle is loaded on the carriage 300, the vehicle and the carriage (
  • the sensor 500 for recognizing the distance between the 300, and a control unit for controlling the driving of the vehicle transport robot 10 by the signal of the sensor 500 may be further provided.
  • the vehicle transfer robot 10 is coupled to a separate guide rail 123 continuously installed inside the upper frame 120 and the detection sensor 500 to transfer the detection sensor 500.
  • a conveying body 124 for conveying along the guide rail 123 may be further provided.
  • the vehicle transfer robot 10 may further include a power generation device (not shown) that generates electricity using the weight of the loading unit 310 on which the vehicle is mounted.
  • energy can be stored using springs, springs, pneumatics, hydraulics, and the like.
  • the power generation device may store energy using potential energy generated when the loading unit 310 descends.
  • the vertical frame 110 when the vehicle is loaded on the carriage 300 and repeatedly raised and lowered, the vertical frame 110 may be inclined.
  • the horizontal adjusting device 600 is provided between the two long side upper frame (121a, 121b) connected to the vertical frame (110a, 110b), the horizontal Both sides of the adjusting device 600 is provided with a shaft (shaft) connected to the vertical frames (110a, 110b).
  • the horizontal control device 600 is provided with a hydraulic device or a drive motor for transferring the shaft in the longitudinal direction.
  • the vertical adjustment device 110 controls the inclination by pulling or pushing the vertical frames 110a and 110b by transferring the shaft in the long side length direction.
  • the vertical frame (110a, 110b) is provided with a separate sensor for measuring the inclination of the vertical frame (110a, 110b), the control unit for controlling the drive of the horizontal adjusting device 600 by the signal of the sensor It may be further provided.
  • the horizontal adjusting device 600 is operated according to a signal of a tilt sensor (not shown) for measuring the tilt of the vertical frame 110 to transfer the shaft to control the tilt of the vertical frame.
  • support portion 410 outer frame

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Architecture (AREA)
  • Robotics (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Transportation (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
  • Handcart (AREA)

Abstract

Un robot de transfert de véhicule (10) selon la présente invention, disposé verticalement sur le sol, est formé pour avoir quatre châssis verticaux (110) disposés à une distance prédéfinie les uns des autres et formant un châssis quadrangulaire,et un quadrilatère par connexion respective des parties d'extrémité supérieures des quatre châssis verticaux (110). De plus, le robot de transfert de véhicule (10) comprend : une partie châssis (100) incluant un châssis supérieur (120) ; une partie d'entraînement (200) installée à chacune des parties extrémités inférieures des châssis verticaux (110) pour déplacer la partie châssis (100) ; et un chariot (300) installé dans la partie châssis (100) pour charger un véhicule.
PCT/KR2019/007620 2018-06-27 2019-06-25 Robot de transfert de véhicule intelligent pour permettre le stationnement et la sortie de stationnement par un véhicule de charge WO2020004887A1 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
EP19826103.4A EP3815858A4 (fr) 2018-06-27 2019-06-25 Robot de transfert de véhicule intelligent pour permettre le stationnement et la sortie de stationnement par un véhicule de charge
JP2020571744A JP2021529902A (ja) 2018-06-27 2019-06-25 車両を積載して駐車及び出車を行う知能型車両搬送ロボット
US17/252,279 US11541544B2 (en) 2018-06-27 2019-06-25 Intelligent vehicle transfer robot for executing parking and unparking by loading vehicle
CN201980040606.9A CN112334284A (zh) 2018-06-27 2019-06-25 装载车辆而执行停车及发车的智能车辆转运机器人

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR10-2018-0074146 2018-06-27
KR1020180074146A KR102221463B1 (ko) 2018-06-27 2018-06-27 차량을 적재하여 주차 및 출차를 실행하는 지능형 차량이송로봇

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US (1) US11541544B2 (fr)
EP (1) EP3815858A4 (fr)
JP (1) JP2021529902A (fr)
KR (1) KR102221463B1 (fr)
CN (1) CN112334284A (fr)
WO (1) WO2020004887A1 (fr)

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EP3815858A1 (fr) 2021-05-05
EP3815858A4 (fr) 2021-09-01
CN112334284A (zh) 2021-02-05
KR20200001326A (ko) 2020-01-06
JP2021529902A (ja) 2021-11-04
KR102221463B1 (ko) 2021-03-02
US11541544B2 (en) 2023-01-03
US20210260765A1 (en) 2021-08-26

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